Method and apparatus for controlling equipment

Abstract

Embodiments of the present disclosure relate to a method and apparatus for controlling equipment. The method includes: acquiring an electrical signal collected by a displacement sensor; determining a displacement of a movable rod of a hydraulic cylinder relative to a cylinder tube of the hydraulic cylinder according to the electrical signal; determining, according to the displacement, a rotating angle of a mechanical arm connected to the movable rod relative to a mechanical arm connected to the cylinder tube; and controlling equipment according to the rotating angle.

What is claimed is: 
     
       1. A method for controlling equipment, comprising:
 acquiring an electrical signal collected by a displacement sensor, wherein the displacement sensor is a guyed displacement sensor including a body and a pull wire; 
 determining a displacement of the movable rod of the hydraulic cylinder relative to the cylinder tube of the hydraulic cylinder according to the electrical signal, wherein an end of the pull wire is connected to the body fixed to a cylinder tube of a hydraulic cylinder, the other end of the pull wire is connected at a joint between the movable rod and the mechanical arm, and determining the displacement of the movable rod of the hydraulic cylinder relative to the cylinder tube of the hydraulic cylinder according to the electrical signal comprises determining an extension length of the pull wire as the movement displacement of the movable rod; 
 determining, according to the displacement, a rotating angle of a mechanical arm connected to the movable rod relative to a second mechanical arm connected to the cylinder tube; and 
 controlling equipment according to the rotating angle. 
 
     
     
       2. The method according to  claim 1 , wherein the equipment is an excavator, and the equipment comprises a plurality of hydraulic cylinders and a plurality of displacement sensors in one-to-one correspondence to the plurality of hydraulic cylinders, and further comprises a bucket connected to an excavator chassis through a plurality of mechanical arms connected to the plurality of hydraulic cylinders; and
 the controlling equipment according to the rotating angle comprises: 
 determining a position and an orientation of the bucket according to a plurality of rotating angles corresponding to the plurality of hydraulic cylinders; and 
 controlling the equipment according to the position and the orientation of the bucket. 
 
     
     
       3. The method according to  claim 2 , wherein the electrical signal comprises an identifier; and
 the determining the rotating angle of the mechanical arm connected to the movable rod relative to the mechanical arm connected to the cylinder tube according to the displacement comprises: 
 determining, according to the identifier, an angle calculation formula corresponding to the identifier; and 
 determining the rotating angle according to the displacement and the angle calculation formula. 
 
     
     
       4. An apparatus for controlling equipment, comprising:
 at least one processor; and 
 a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
 acquiring an electrical signal collected by a displacement sensor, the displacement sensor being used for measuring a displacement of a movable rod of a hydraulic cylinder relative to a cylinder tube of the hydraulic cylinder, wherein the displacement sensor is a guyed displacement sensor including a body and a pull wire; 
 determining the displacement of the movable rod of the hydraulic cylinder relative to the cylinder tube of the hydraulic cylinder according to the electrical signal, wherein an end of the pull wire is connected to the body fixed to a cylinder tube of a hydraulic cylinder, the other end of the pull wire is connected at a joint between the movable rod and the mechanical arm, and determining the displacement of the movable rod of the hydraulic cylinder relative to the cylinder tube of the hydraulic cylinder according to the electrical signal comprises determining an extension length of the pull wire as the movement displacement of the movable rod; 
 determining, according to the displacement, a rotating angle of a mechanical arm connected to the movable rod relative to a mechanical arm connected to the cylinder tube; and 
 controlling equipment according to the rotating angle. 
 
 
     
     
       5. The apparatus according to  claim 4 , wherein the equipment is an excavator, and the equipment comprises a plurality of hydraulic cylinders and a plurality of displacement sensors in one-to-one correspondence to the plurality of hydraulic cylinders, and further comprises a bucket connected to an excavator chassis through a plurality of mechanical arms connected to the plurality of hydraulic cylinders; and
 the controlling equipment according to the rotating angle comprises:
 determining a position and an orientation of the bucket according to a plurality of rotating angles corresponding to the plurality of hydraulic cylinders; and 
 controlling the equipment according to the position and the orientation of the bucket. 
 
 
     
     
       6. The apparatus according to  claim 5 , wherein the electrical signal comprises an identifier; and
 the determining the rotating angle of the mechanical arm connected to the movable rod relative to the mechanical arm connected to the cylinder tube according to the displacement comprises:
 determining, according to the identifier, an angle calculation formula corresponding to the identifier; and 
 determining the rotating angle according to the displacement and the angle calculation formula. 
 
 
     
     
       7. A non-transitory computer readable medium, storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform operations, the operations comprising:
 acquiring an electrical signal collected by a displacement sensor, the displacement sensor being used for measuring a displacement of a movable rod of a hydraulic cylinder relative to a cylinder tube of the hydraulic cylinder, wherein the displacement sensor is a guyed displacement sensor including a body and a pull wire; 
 determining the displacement of the movable rod of the hydraulic cylinder relative to the cylinder tube of the hydraulic cylinder according to the electrical signal, wherein an end of the pull wire is connected to the body fixed to a cylinder tube of a hydraulic cylinder, the other end of the pull wire is connected at a joint between the movable rod and the mechanical arm, and determining the displacement of the movable rod of the hydraulic cylinder relative to the cylinder tube of the hydraulic cylinder according to the electrical signal comprises determining an extension length of the pull wire as the movement displacement of the movable rod; 
 determining, according to the displacement, a rotating angle of a mechanical arm connected to the movable rod relative to a second mechanical arm connected to the cylinder tube; and 
 controlling equipment according to the rotating angle. 
 
     
     
       8. The method according to  claim 1 , wherein determining, according to the displacement, the rotating angle of the mechanical arm connected to the movable rod relative to the second mechanical arm connected to the cylinder tube comprises: determining an original length of the hydraulic cylinder, a length from a connection point of the cylinder tube and the mechanical arm to a rotation center of the mechanical arm, and a length from a connection point of the movable rod and the mechanical arm to the rotation center of the mechanical arm; and determining the rotating angle of the mechanical arm connected to the movable rod relative to the second mechanical arm connected to the cylinder tube based on the movement displacement of the movable rod and the lengths.